robot/control/kinematics/OldIKOR

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/* **-*-c++-*-**************************************************************
  Copyright (C)2002 David Jung <opensim@pobox.com>

  This program/file is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.
  
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details. (http://www.gnu.org)
  
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  
  $Id: OldIKOR 1036 2004-02-11 20:48:55Z jungd $
  $Revision: 1.5 $
  $Date: 2004-02-11 15:48:55 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _ROBOT_CONTROL_KINEMATICS_OLDIKOR_
#define _ROBOT_CONTROL_KINEMATICS_OLDIKOR_

#include <robot/control/kinematics/kinematics>

#include <robot/control/kinematics/InverseKinematicsSolver>
#include <robot/KinematicChain>


namespace robot {
namespace control {
namespace kinematics {


/// wrapper for old IKORv2 inverse kinematics code.
class OldIKOR : public InverseKinematicsSolver
{                   
public:
  OldIKOR(const robot::KinematicChain& chain, bool platformActive=false);

  virtual String className() const { return String("OldIKOR"); }

  ///  Solve inverse kinematics.
  /**
   * (see InverseKinematicsSolver for parameters)
   *   @param solver         ignored. The old IKORv2 FSP solver is (implicitly) used.
   */
  virtual Vector solve(const Vector& dx, const Vector& x, const Vector& q,
                       const base::Matrix& J,
                       OptimizationMethod      optMethod      = Lagrangian,
                       OptimizationCriterion   optCriterion   = LeastNorm,
                       OptimizationConstraints optConstraints = OptimizationConstraints(JointLimits),
                       base::Orient::Representation  orientationRepresentation = base::Orient::EulerRPY);

  /// Set implementation specific parameters.  Unknown names will throw a std::invald_argument exception
  /** Valid parameters:   name               value            description
   *  none currently
   */
  virtual void setParameter(const String& name, Real value);

protected:
  robot::KinematicChain chain;
  bool platformActive;

};


} // namespace kinematics
} // namespace control
} // namespace robot

#endif

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